Case study of a rapid prototyping method for optimizing soft gripper structures with integrated piezoresistive sensors

Closed-loop control systems and monitoring the activities of soft robots in the natural environment require sensing elements in soft actuator modules. In this study, additive manufacturing is used for sensorized soft actuator modules to investigate the influence of the Shore hardness and design aspects of an open-source tendon-based gripper structure, in a time-efficient way. Additionally, the pla...